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[UAVCANv1] Publisher default timeout, has to be tuned further for all publishers

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Peter van der Perk
2021-04-20 21:44:40 +02:00
committed by Lorenz Meier
parent 1804cea92c
commit 8b3aa46c01
12 changed files with 24 additions and 12 deletions
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src/drivers/uavcan_v1/Uavcan.cpp
+1 -1
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@@ -417,7 +417,7 @@ void UavcanNode::sendHeartbeat()
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindMessage,
.port_id = uavcan_node_Heartbeat_1_0_FIXED_PORT_ID_,